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US 12,761,202 B2Granted
Machine control based on measured soil strength
AssigneeDeere & Company
InventorsElijah B. Garner, Kelby J. Krueger, Cary S. Hubner, Michael C. Steele, Bradley A. Wackerle
Life of this patent
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Abstract
An agricultural machine includes a soil strength generation system that generates an output indicator of soil strength. A control system generates on action signal based on the soil strength.
Claims19
A computer implemented method of controlling an agricultural machine comprising a row unit, the computer implemented method comprising:
- detecting a row unit down force (RUDF) applied to the row unit by a down force actuator;
- obtaining a weight value representing a self weight of the row unit;
- sensing, by a gage wheel reaction force sensor, a gage wheel reaction force imparted by ground on a gage wheel of the row unit;
- detecting a furrow depth indicative of a depth of a furrow opened by a furrow opener on the row unit;
- calculating a soil strength metric based on the detected furrow depth and a soil strength value comprising the difference between (i) a calculated sum of at least the RUDF and the self weight and (ii) at least the gage wheel reaction force,
- wherein the soil strength value represents at least one of soil resistance or soil compaction;
- and
- controlling the agricultural machine based on the soil strength value.
5 more elements
An agricultural system with a row unit including a row unit frame supporting at least one row unit component, the agricultural system comprising:
- a self weight detector configured to detect a self weight measure representing a self weight of the row unit, the self weight including at least the row unit frame;
- at least one processor;
- and
- a memory that stores computer executable instructions which, when executed by the at least one processor, causes the at least one processor to perform steps, comprising:
- lifting the row unit out of the ground;
- detecting, by the self weight detector, the self weight measure while the row unit is lifted;
- detecting a row unit down force applied to the row unit by a down force actuator;
- detecting a force imparted by ground on a gage wheel as a gage wheel reaction force;
- calculating a soil strength value based on the row unit down force, the self weight measure, and the gage wheel reaction force;
- and
- controlling the agricultural system based on the soil strength value.
8 more elements
An agricultural system, comprising:
- a row unit comprising:
- a row unit frame supporting a plurality of row unit components, the plurality of row unit components comprising:
- a gage wheel, and
- one or more additional ground engaging components;
- a down force actuator applying a row unit down force (RUDF) to the row unit on a field;
- and
- a down force detector detecting the RUDF;
- a gage wheel reaction force detector configured to detect a gage wheel reaction force imparted by ground on the gage wheel;
- an additional reaction force detector configured to detect an additional reaction force imparted by the ground on at least one component of the one or more additional ground engaging components;
- at least one processor;
- and
- memory storing instructions executable by the at least one processor, wherein the instructions, when executed, cause the agricultural system to:
- obtain a self weight of the row unit, the self weight representing at least a weight of the row unit frame;
- calculating a soil strength value comprising the difference between (i) a calculated sum of at least the RUDF and the self weight and (ii) a calculated sum of at least the gage wheel reaction force and the additional reaction force;
- and
- generate a control signal that controls the agricultural system based on the soil strength value.
13 more elements
Dependencies are inferred from the claim text.